Modified webbot.py for the robot project on www.awsomenow.com

webbot.py

#!/usr/bin/env python3
## webbot code modified by Shijaz Abdulla - www.awsomenow.com 
## See the original project on GitHub: https://github.com/picymru/webbot 
## This code is referenced in http://www.awsomenow.com/2018/07/06/building-a-robot-with-computer-vision-and-speech/

##
# Some of the code that controls the robot's movement is from the Webbot project by PiCymru. Including their copyright notice.
##
# Copyright (c) 2016 PiCymru
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.

import os, logging, subprocess, time, argparse
from bottle import route, request, response, redirect, hook, error, default_app, view, static_file, template, HTTPError
from gpiozero import CamJamKitRobot, DistanceSensor, LineSensor
# from picamera import PiCamera #we're calling raspistill using subprocess.Popen()
from time import sleep
import boto3
import datetime
global response
from contextlib import closing
import pygame

# I swapped 'right' with 'left' and 'back' with 'front' because of the way I had wired my motors.
# Depending on how you did yours, you may or may not have to change it back!

# === START webbot CODE by PiCymru ===
@route('/right')
def action_left():
	robot.left()
	time.sleep(0.2)
	robot.stop()
	return "LEFT TURN"

@route('/left')
def action_right():
	robot.right()
	time.sleep(0.2)
	robot.stop()
	return "RIGHT TURN"

@route('/forward')
@route('/forwards')
def action_forward():
	robot.backward()
	time.sleep(0.2)
	robot.stop()
	return "FORWARDS"

@route('/back')
@route('/backward')
def action_back():
	robot.forward()
	time.sleep(0.2)
	robot.stop()
	return "BACKWARDS"

@route('/ultrasonic')
def ultrasonic():
	return "{:.2f}".format(sensor.distance)

# === END webbot CODE by PiCymru ===

# min_confidence=95 ensures that the robot only talks if Rekognition was 95%+ confident of the object it saw. 
# Otherwise, the robot plays the ./notfound_Salli.mp3 file to say that it cannot see anything. 
# max_labels=1 ensures Amazon Rekognition only returns one object (the most confident one) 
def detect_labels(bucket, key, max_labels=1, min_confidence=95, region="eu-west-1"):
	print("Recognizing")
	rekognition = boto3.client("rekognition", region)
	rekogresponse = rekognition.detect_labels(
		Image={
			"S3Object": {
				"Bucket": bucket,
				"Name": key,
			}
		},
		MaxLabels=max_labels,
		MinConfidence=min_confidence,
	)
	return rekogresponse['Labels']
	
	
@route('/cheese')
def cheese():
	s3=boto3.client('s3')
	polly=boto3.client("polly")
	#Generate a filename for the picture on S3
	now=datetime.datetime.now()
	KEY = now.strftime("%Y%m%d%H%M%S")+".jpg"

	#S3 bucket name for upload
	BUCKET = "rekogrobot"
	
	#take a picture without storing locally and send it to S3
	response.content_type = 'image/jpeg'
	response.cache_control = 'no-store'
	with subprocess.Popen(["raspistill", "-w", "400", "-h", "300", "-o", "-"], stdout=subprocess.PIPE) as proc:
		b=proc.stdout.read()
		s3.put_object(ACL='public-read', Bucket=BUCKET, Key=KEY, Body=b)
		s3location="https://"+BUCKET+".s3-eu-west-1.amazonaws.com/"+KEY
		
	labels=detect_labels(BUCKET,KEY)
	if labels:
		#Print and read out response using Polly
		for label in labels:
			roundedconfidence=round(label['Confidence'],2)
			speech= "I see a {Name} and I am ".format(**label)
			speech= speech + str(roundedconfidence) + "% sure."
			print(speech)
			try:
				pollyresponse = polly.synthesize_speech(Text=speech, OutputFormat="mp3", VoiceId="Salli")
			except (BotoCoreError, ClientError) as error:
				print(error)
				sys.exit(-1)
			if "AudioStream" in pollyresponse:
				with closing(pollyresponse["AudioStream"]) as stream:
					output = "./speech.mp3"
					print("Speaking...")
					try:
						with open(output, "wb") as file:
							file.write(stream.read())
					except IOError as error:
						print(error)
						sys.exit(-1)
			else:
				print("Could not stream audio")
				sys.exit(-1)
			#open the file	
			pygame.mixer.init()
			pygame.mixer.music.load(output)
			pygame.mixer.music.set_volume(1.0)
			pygame.mixer.music.play()
			
			#Use the below if you want to code to wait till the robot finishes speaking
			#while pygame.mixer.music.get_busy()==True:
			#	continue
	else:
		#Play a message that the robot couldn't identify any objects.
		print("I could not recognize any objects.")
		pygame.mixer.init()
		pygame.mixer.music.load("./notfound_Salli.mp3")
		pygame.mixer.music.set_volume(1.0)
		pygame.mixer.music.play()
	return b
		

	
	
@route('/')
def index():
	return static_file('index.html', root='public')

@route('/style.css')
def index():
	return static_file('style.css', root='public')

if __name__ == '__main__':
	print("Robot is now ready.")
	pygame.mixer.init()
	pygame.mixer.music.load("./robotready_Salli.mp3")
	pygame.mixer.music.set_volume(1.0)
	pygame.mixer.music.play()
	parser = argparse.ArgumentParser()

	# Server settings
	parser.add_argument("-i", "--host", default=os.getenv('IP', '127.0.0.1'), help="IP Address")
	parser.add_argument("-p", "--port", default=os.getenv('PORT', 5000), help="Port")

	# Additional hardware
	parser.add_argument("--distance-sensor", help="enable distance sensor", default=False, action="store_true")
	parser.add_argument("--line-sensor", help="enable line sensor", default=False, action="store_true")

	# Verbose mode
	parser.add_argument("--verbose", "-v", help="increase output verbosity", action="store_true")
	args = parser.parse_args()

	if args.verbose:
		logging.basicConfig(level=logging.DEBUG)
	else:
		logging.basicConfig(level=logging.INFO)
	log = logging.getLogger(__name__)

	try:
		robot = CamJamKitRobot()
		if args.distance_sensor:
			distance_sensor = DistanceSensor(18, 17)
		if args.line_sensor:
			line_sensor = LineSensor(4)
		robot.stop()
	except Exception as e:
		log.error(e)
		exit()

	try:
		app = default_app()
		app.run(host=args.host, port=args.port, server='tornado')
	except:
		log.error("Unable to start server on {}:{}".format(args.host, args.port))